CN104552279A - 1T&(2R)&1R four-degrees of freedom decoupling hybrid mechanism - Google Patents
1T&(2R)&1R four-degrees of freedom decoupling hybrid mechanism Download PDFInfo
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- CN104552279A CN104552279A CN201510032529.6A CN201510032529A CN104552279A CN 104552279 A CN104552279 A CN 104552279A CN 201510032529 A CN201510032529 A CN 201510032529A CN 104552279 A CN104552279 A CN 104552279A
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Abstract
The invention belongs to the field of robots and particularly relates to a space decoupling hybrid mechanism which mainly includes a two-branch parallel mechanism (2R), a moving pair 1T connected onto a platform below the parallel mechanism and a turning pair 1R connected onto the platform. The two-branch parallel mechanism is composed of a lower platform, a movable platform and two branches connecting the movable platform with the lower platform. The lower platform is of a rectangular structure, a cylindrical guide rail parallel to the lower platform is arranged above the lower platform, a trapezoid guide rail is arranged below the cylindrical guide rail, and a fixed sliding chute is connected with the guide rail of the lower platform through the moving pair. The first branch is composed of a cylindrical pair, a parallelogram hinge, a rotating pair with two axes perpendicular to each other, and connection rods for connecting the cylindrical pair, a parallelogram hinge and the rotating pair, wherein the axes of the cylindrical pair, the parallelogram hinge and the rotating pair connected with the hinge are parallel to each other. The second branch is composed of a rotating pair with two axes perpendicular to each other. The tail end of the hybrid mechanism is connected with the movable platform through one rotating pair. The 1T&(2R)&1R four-degrees of freedom decoupling hybrid mechanism can achieve functions of one moving and three rotating, is simple in structure, large in operation space and easy to control, and adopts motion decoupling.
Description
Art
The invention belongs to robot field, particularly the spatially decoupled hybrid mechanism of one.
Background technology
It is large, easy to control that series-parallel robot has serial manipulator working space concurrently simultaneously, parallel robot Stability Analysis of Structures, rigidity are large, the accumulation of error is few, dynamic property is good, easily try to achieve the respective advantage such as inverse kinematic, simple series and parallel configuration shortcoming can be avoided again simultaneously, in modern manufacturing industry, have more practicality.
Because series-parallel robot forgives parallel-connection structure, there is the strong problem of sports coupling in parallel institution.The existence of series-parallel robot coupling makes mechanism there are problems in mechanism design, computational analysis and motion control etc.Therefore, for simplifying the control procedure of series-parallel robot, the decoupling improving hybrid mechanism has become the hot issue of theory of mechanisms research field.
In the research of double rotation freedom degrees decoupling parallel mechanism, Chinese patent literature CN102294691A, CN102126212A propose a kind of double rotation freedom degrees decoupling parallel mechanism respectively, kinematic pair in the rotation decoupling mechanism that he is comprehensive is less, and substantially utilizing Hooke's hinge, the stability of structure is inadequate.Decoupling research for hybrid mechanism obtains some progress, and such as, Chinese patent literature CN102120205A proposes a kind of single spray gun spraying five axle series-parallel robot, and this mechanism's 2DOF plane parallel mechanism is connected in series a 3DOF serial mechanism and forms.Not only programming easily, manufacture and control accuracy also easily improve, move two transhipments move although mechanism of foregoing invention mechanism moving platform can realize three, domestic at present to move the research of three turns of four-freedom hybrid mechanisms to one also little, and the decoupling of most of mechanism does not solve very well.
Summary of the invention
The object of the present invention is to provide a kind of structure simple, be easy to control, mobile decoupling one move three turns of four-freedom hybrid mechanisms.It mainly comprises Ge Liang branch parallel institution (2R) and the moving sets 1T be connected on parallel institution lower platform and the revolute pair 1R be connected on its upper mounting plate.Two branch's parallel institutions are made up of lower platform, moving platform and the Liang Ge branch that connects moving platform and lower platform.Described lower platform is that rectangle structure is furnished with the cylindrical guide that is parallel to lower platform above it, and its arranged beneath has trapezoidal rails.
Fixing chute is connected with end platform rail by moving sets, and its Mobility Center line is parallel with baseplane.Branch one by a cylindrical pair and a parallelogram hinge and two mutual vertical rotation of axis secondary, and connect their connecting rod composition, wherein cylindrical pair, parallelogram hinge, be parallel to each other with hinged revolute pair axis; Branch two is made up of two orthogonal revolute pairs of axis; Hybrid mechanism end is connected with moving platform by a revolute pair.
In above-mentioned branch, the moving sets be connected with fixed guide is that input motion is secondary, and will be moved at go to the bottom platform and parallel institution of the driving of moving sets, final lead agency end moves.The revolute pair be connected with moving platform in above-mentioned branch one is input queued switches, and under the driving of revolute pair, mechanism end rotates; The revolute pair be connected with lower platform in branch two is input queued switches, and first connecting rod rotates under the driving of revolute pair, and first link rotatable lead agency moving platform rotates; The revolute pair be connected with moving platform is input queued switches, and under the driving of revolute pair, lead agency end rotates; And three of these three directions rotations and a moving movement are decoupling zeros, non-interference.
The present invention compared with prior art tool has the following advantages:
1, simple and stable structure, assembling is simple, can reduce manufacturing cost;
2, one, space one-movement-freedom-degree and three rotational freedom decoupling zeros are achieved;
3, there is larger space especially along the one-dimensional movement in chute direction.
Accompanying drawing explanation
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
The overall schematic construction sketch of Fig. 2.
Detailed description of the invention
Move in three turns of four degree of freedom decoupling spatial series-parallel structural scheme of mechanism in the one one shown in Fig. 2, fixing chute 1 is connected with lower platform 3 by moving sets 2.In branch one, one end of first connecting rod 6 is connected with cylindrical guide 4 on lower platform 3 by cylinder dynamic secondary 5, the other end of first connecting rod 6 is connected with parallelogram hinge 7, the other end of hinge 7 is connected with second connecting rod 8, and the other end of connecting rod 8 is connected with the 3rd connecting rod 10 by revolute pair 9.Connecting rod 10 other end is connected with moving platform 12 by revolute pair 11; In branch two, one end of first connecting rod 15 is connected with lower platform 3 by revolute pair 14, and the other end of first connecting rod 15 is connected with moving platform 12 by revolute pair 16; Mechanism end 18 is connected with moving platform 12 by revolute pair 17.
Moving sets 2 centerline parallel is in lower platform.The axis being parallel of the cylindrical pair 5 be connected with lower platform in branch one is in lower platform and be parallel to moving sets 2 center line, the axis being parallel of parallelogram hinge 7 is in the axis of cylindrical pair 5, the axis being parallel of revolute pair 9 in kinematic pair 5,7 axis, revolute pair 11 axis being parallel be connected with moving platform in lower platform 3 perpendicular to kinematic pair 5,7,9 axis; In revolute pair 16 axis that revolute pair 14 axis being parallel be connected with lower platform in branch two is connected with moving platform in lower plane 3 and kinematic pair 5,7,9 axis and branch one revolute pair 11 axis coaxle and perpendicular to the axis of revolute pair 14; What be connected with hybrid mechanism end turns secondary 17 axes normal in moving platform 12.
Claims (3)
1. 1T & (2R) & 1R four degree of freedom decoupling hybrid mechanism its mainly comprise Ge Liang branch parallel institution (2R) and the moving sets 1T be connected on parallel institution lower platform and the revolute pair 1R be connected on its upper mounting plate.Two branch's parallel institutions are made up of lower platform, moving platform and the Liang Ge branch that connects moving platform and lower platform.It is characterized in that: lower platform is that rectangle structure is furnished with the cylindrical guide that is parallel to lower platform above it, and its arranged beneath has trapezoidal rails, and fixing chute is connected with lower platform guide rail by moving sets; In branch one, one end of first connecting rod is connected with fixed platform cylindrical guide by the cylindrical pair of axis being parallel in lower platform, the other end and its hinge axes of parallelogram chain connection are parallel to cylindrical pair axis, this parallelogram hinge other end is connected with second connecting rod, second connecting rod other end is connected with the 3rd connecting rod by the revolute pair of axis being parallel in cylindrical pair, and the 3rd the connecting rod other end connects its axis being parallel in lower platform perpendicular to cylindrical pair axis by revolute pair moving platform; In branch two, first connecting rod one end is connected with on fixed platform by revolute pair, and the other end of first connecting rod to be connected its pivot center by revolute pair, and to be parallel to lower platform simultaneously coaxial with the revolute pair be connected with moving platform in branch one with moving platform; Hybrid mechanism end is connected its axes normal in moving platform by a revolute pair with moving platform.
2. according to claim 1 a kind of one move three turns of four degree of freedom decoupling hybrid mechanisms, it is characterized in that: the above-mentioned moving sets 1T be connected with lower platform is input queued switches; Be connected with moving platform in above-mentioned branch one and turn pair for input queued switches; The revolute pair be connected with lower platform in above-mentioned branch two is input queued switches.The above-mentioned revolute pair be connected with moving platform is input queued switches.
3. according to claim 1 a kind of one move three turns of four degree of freedom decoupling hybrid mechanisms, it is characterized in that: two the orthogonal revolute pairs of axis be connected with moving platform in above-mentioned branch one can replace with universal hinge; Two the orthogonal revolute pairs of axis be connected with moving platform in above-mentioned branch two can replace with universal hinge.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510032529.6A CN104552279A (en) | 2015-01-20 | 2015-01-20 | 1T&(2R)&1R four-degrees of freedom decoupling hybrid mechanism |
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| CN201510032529.6A CN104552279A (en) | 2015-01-20 | 2015-01-20 | 1T&(2R)&1R four-degrees of freedom decoupling hybrid mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531552A (en) * | 2019-01-23 | 2019-03-29 | 河南科技大学 | A kind of pure one-rotation parallel mechanism of two degrees of freedom |
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| US5100286A (en) * | 1989-09-08 | 1992-03-31 | Robotic Originals, Inc. | Robotic apparatus |
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| US20050262959A1 (en) * | 2002-11-06 | 2005-12-01 | Mcgill University | Four-degree-of-freedom parallel manipulator for producing schonflies motions |
| CN1903519A (en) * | 2006-08-03 | 2007-01-31 | 天津大学 | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing |
| CN102172913A (en) * | 2011-02-23 | 2011-09-07 | 常州大学 | Four-degree-of-freedom decoupling hybrid robot |
| CN103909518A (en) * | 2014-03-11 | 2014-07-09 | 浙江理工大学 | Hybrid robot for stirring friction welding in redundant drive space |
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2015
- 2015-01-20 CN CN201510032529.6A patent/CN104552279A/en active Pending
Patent Citations (6)
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| US5100286A (en) * | 1989-09-08 | 1992-03-31 | Robotic Originals, Inc. | Robotic apparatus |
| US20050262959A1 (en) * | 2002-11-06 | 2005-12-01 | Mcgill University | Four-degree-of-freedom parallel manipulator for producing schonflies motions |
| CN1439492A (en) * | 2003-03-06 | 2003-09-03 | 天津大学 | Four dimension mixed linking robot |
| CN1903519A (en) * | 2006-08-03 | 2007-01-31 | 天津大学 | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing |
| CN102172913A (en) * | 2011-02-23 | 2011-09-07 | 常州大学 | Four-degree-of-freedom decoupling hybrid robot |
| CN103909518A (en) * | 2014-03-11 | 2014-07-09 | 浙江理工大学 | Hybrid robot for stirring friction welding in redundant drive space |
Non-Patent Citations (1)
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| 史巧硕: "并联机器人机构构型方法研究", 《中国博士学位论文全文数据库 信息科技辑》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531552A (en) * | 2019-01-23 | 2019-03-29 | 河南科技大学 | A kind of pure one-rotation parallel mechanism of two degrees of freedom |
| CN109531552B (en) * | 2019-01-23 | 2024-03-22 | 河南科技大学 | Two-degree-of-freedom pure rotation parallel mechanism |
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